Modeling Dynamics and Control II

Calendar

Day #	Lectures	Topics
1-3	Brief Review of 2.003	Uniaxial motion, fixed-axis rotation; first and second order systems; natural and forced response; transfer functions, zeroes, poles; elementary control: open-loop, closed-loop; closing the loop alters the natural and forced response characteristics; stability and instability.
4-5	Impulse Response	Collisions; conservation of momentum; conservation of energy; coefficient of restitution; bouncing ball in the presence of air drag.
6-9	Plane-motion Kinematics of Rigid Bodies	Combined translation and rotation of rigid body; angular velocity; generalized coordinates; common constraints. Kinetic energy of rigid body.
10-15	Plane-motion Dynamics of Rigid Bodies	Linear and angular momentum principles for systems including rigid bodies; derivingequations of motion using momentum principles; conservation of energy; linearization in the neighbourhood of equilibrium, stability and instability; rolling cylinder inside rollinghoop; inverted pendulum on cart.
16-18	Vibrations of Two-Degree-of-Freedom Systems	Natural modes and the eigenvalue problem; free and forced response to harmonic excitation; damping effects; Bode plots.
19-24	Control of Systems with Rigid Bodies	Actuators, sensors; P, D, I feedback-loop strategies; root-locus design; application to inverted pendulum on cart, automatic self-balancing scale; frequency-domain design methods, gain margin, phase margin.